Beruflich Dokumente
Kultur Dokumente
Stator and a Rotating A rotating magnetic field must be developed in the stator of an
Magnetic Field AC motor in order to produce mechanical rotation of the rotor.
Wire is coiled into loops and placed in slots in the motor
housing. These loops of wire are referred to as the stator
windings. The following drawing illustrates a three-phase stator.
Phase windings (A, B, and C) are placed 120° apart. In this
example, a second set of three-phase windings is installed. The
number of poles is determined by how many times a phase
winding appears. In this example, each phase winding appears
two times. This is a two-pole stator. If each phase winding
appeared four times it would be a four-pole stator.
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Magnetic Field When AC voltage is applied to the stator, current flows through
the windings. The magnetic field developed in a phase winding
depends on the direction of current flow through that winding.
The following chart is used here for explanation only. It assumes
that a positive current flow in the A1, B1 and C1 windings result
in a north pole.
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The amount of flux lines (Φ) the magnetic field produces is
approximately equal to the voltage (E) divided by the frequency
(F). Increasing the supply voltage increases the flux of the
magnetic field. Decreasing the frequency increases the flux.
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Synchronous Rotor Synchronous motors are not induction motors. They are called
“synchronous” because the rotor operates at the same speed
as the rotating magnetic field. There are different methods to
achieve synchronization between the rotor and the rotating
manetic field. The most common method in servomotor
applications is the use of a permanent magnet rotor. Permanent
rare-earth magnets are glued onto the rotor. This type of rotor is
found on smaller synchronous motors. A synchronous motor of
this design is relatively small with low rotor inertia. The smaller,
low inertia rotor provides fast acceleration and high overload
torque ratings.
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A permanent electromagnet with north and south poles is
established when DC voltage is applied to the stator. The
resultant magnetic field is static (non-rotational).
conductor.
There are weak points with this design. The commutator adds
significant weight to the rotor, increasing inertia and reducing
acceleration capability. The design of the commutator also limits
the maximum speed of the motor. Current flow through rotor
windings generates heat in the center of the motor that requires
some method of cooling, such as intenal ventilation. In addition,
there are added maintanance cost, such as brushes, which
must be checked and replaced regularly.
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Synchronous Servomotor Permanent magnet synchronous servomotors offer many
advantages over DC motors. The permanent magnetic field is
generated by the rotor instead of the stator. There is no current
flow to generate heat in the rotor. Instead, heat is generated in
the stator windings which are close to the surface of the motor.
In many applications natural convection cooling is all that is
required. In some more demanding applications an external
blower provides sufficient cooling. Since no internal ventilation
is required, servomotors can be built to higher degrees of
protection. Servomotors have a higher efficiency since there are
no losses in a rotor/armature winding.
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Asynchronous Rotor Siemens also offers asynchronous (induction) servomotors. The
most common type of rotor used with asynchronous motors is
the “squirrel cage” rotor. The construction of the squirrel cage
rotor is reminiscent of the rotating exercise wheels found in
cages of pet rodents. The rotor consists of a stack of steel
laminations with evenly spaced conductor bars around the
circumference. The conductor bars are mechanically and
electrically connected with end rings. A slight skewing of the
bars helps to reduce audible hum. The shaft is an integral part of
the rotor construction.
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Current flow in the conductor bars produces magnetic fields
around each rotor bar. The rotor becomes an electromagnet with
alternating north and south poles. It must be remembered that
current and magnetic fields of the stator and rotor are constantly
changing. The following drawing illustrates one instant in time
during which current flow through winding A1 produces a north
pole. The expanding field cuts across an adjacent rotor bar,
inducing a voltage. The resultant magnetic field in the rotor
tooth produces a south pole, which is attracted to the stator’s
north pole. As the stator magnetic field rotates the rotor follows.
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Servomotor Ratings
Siemens Servomotors Servomotors, like the Siemens servomotor shown below, are
high-performance motors specifically designed for use with the
high demand of variable speed drives and motion control
applications.
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Catalog and Serial Number The catalog number gives important information about the
motor. The first four digits of the catalog number are the model
number. In this case it is a 1FT6 synchronous servomotor. In
addition to the 1FT6 Siemens also manufactures a 1FK6
synchronous servomotor. There is also the 1PH7, 1PL6, and
1PH4 asynchronous servomotors.
1FT6082-8AF71-1AG1
Voltage The example motor, like all 1FK6 and 1FT6 motors, is rated for
380 to 460 VAC, which correlates to an effective voltage in the
stator windings of 240 VAC. Induction motors are designed to
operate on a voltage source that supplies a smooth sinusoidal
sine wave, such as the one shown below.
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Speed and Torque Rated speed is the nameplate speed, given in RPM, where the
motor develops rated torque (τn) at rated voltage. This motor, for
example, is rated to develop 10.3 Nm of torque at 3000 RPM
with a supply voltage range of 380 to 460 VAC, which correlates
to an effective voltage in the stator windings of 240 VAC. The
nameplate of the 1F.6 motors also shows ratings when the
supply voltage is reduced 50%. At 50% supply voltage rated
speed is 1500 RPM, rated torque is 11.7 Nm, and the effective
stator winding voltage is 120 VAC. This information is put in
parenthesis because this supply voltage is outside the rated
voltage of the MASTERDRIVE MC drive.
Current Stall (Stand still) current is 8.2 amps at zero speed and stall
torque (τo) with 60 K rise. The Current at stall is 10.7 amps with
a 100 K rise.
Stall Torque and Current Stall describes a condition where power is supplied to the
motor but the rotor is at zero speed. This condition occurs when
an AC drive is causing the motor to act as an electrical brake to
hold the connected load at a specific position.
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Insulation Class In an electrical circuit, current causes heat. A certain amount of
current will flow in the windings of a motor as soon as it is
started. This will cause motor temperature to rise. DIN
(Deutsche Industrie Normenausschuss) is a set of German
standards now used in other countries. DIN VDE 0530 classifies
the accepted amount of temperature rise. The three most
commonly used classes are B, F, and H.
The insulation or thermal class (Th. CL. F.) of the example motor
is Class F. Class F insulation has a maximum temperature rise of
105 K. The maximum winding temperature is 145° C (40° C
ambient plus 105 K rise). The maximum steady-state
temperature of a motor with Class F insulation is 155° C.
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Stall Torque, Current, There are two ratings for stall torque (τo), stall current (Io), and
and Temperature Rise temperature rise given for this motor. These ratings are related.
τo = 10.4/13.0 Nm
Io = 8.20/10.7 A
Temperature Rise = 60/100 K
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Review 3
1. Two types of servomotors used in motion control drives
are ____________ and ____________ .
a. sinusoidal
b. pulse width modulated
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Speed-Torque Characteristics
Duty Cycle All motors are limited by the amount of heat that can develop in
the motor windings. Speed-torque curves are based on
standardized duty cycles which lead to the same temperature
rise. The number of possible duty cycle types is almost infinite.
To help promote a better understanding, duty cycles have been
divided into nine standardized categories, which cover most of
the applications encountered.
Duty cycle profiles can become complex. S1, S3, and S6,
however, are three common duty cycles. Part 2 of the General
Motion Control Catalog provides speed/torque curves for S1
and intermittent/periodic duty cycles where applicable.
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S3 Duty S3 duty operation is comprised of a sequence of identical duty
cycles, each of which consists of a period of constant load
followed by an interval of no load. Starting current has no
marked effect on the temperature rise of the motor. Operating
time is given in minutes, such as 10 minutes, 30 minutes, or 60
minutes. If no time is given a 10 minute cycle time is assumed.
Cycle duty is given in a percent such as 15%, 20%, 25%, 30%,
or 40%. An S3 duty cycle of 40% for 10 minutes, for example,
would indicate a motor load would be constant for 40% of the
time (4 minutes). A no load condition would occur for 60% of
the time (6 minutes).
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Speed-Torque Curve A motor can be identified by its frame size, which is associated
of Synchronous with useful mounting information. The speed and torque
Servomotor characteristics for a given frame size depend upon the motor
windings available. A common approach for representing the
range of speed and torque characteristics available for a given
motor frame size is the speed-torque curve.
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The speed-torque curve can be made less confusing by filtering
out information so that only the applicable winding and duty
cycles are shown. In the following illustration a motor with an F
winding (3000 RPM) is used. The rated stall torque (zero speed
torque) when operating the motor in S1 duty is about 1.1 Nm
(0.81 lb ft). As the motor accelerates to rated speed, torque
decreases to approximately 0.9 Nm (0.66 lb ft) due to friction
(bearings) and stator losses (mainly eddy currents). The
maximum torque that the motor can supply for a short period of
time at rated speed is called τlimit.
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Speed-Torque Curve for Speed-torque curves can also be supplied for a specific motor.
Specific Motors Larger motors are rated in Newton meters (Nm) and pound-feet
(lb-ft). Smaller motors are rated in Newton meters (Nm) and
pound-inches (lb-in). The following speed-torque curve, for
example, shows the operating capabilities of a 1FT6082 motor.
The motor associated with this curve can deliver 13 Nm (115 lb-
in) at stall and 10.3 Nm (91.2 lb-in) at rated speed (3000 RPM)
continuously. The region in the light grey area of the graph
represents a continuous operating range (S1 duty cycle). The
area represented by the dark grey region of the graph
represents the intermittent operating region.
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